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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Copyright (c) 2010-2011, NVIDIA Corporation</span>
<a name="l00003"></a>00003 <span class="comment"> * All rights reserved.</span>
<a name="l00004"></a>00004 <span class="comment"> *</span>
<a name="l00005"></a>00005 <span class="comment"> * Redistribution and use in source and binary forms, with or without</span>
<a name="l00006"></a>00006 <span class="comment"> * modification, are permitted provided that the following conditions are met:</span>
<a name="l00007"></a>00007 <span class="comment"> *   * Redistributions of source code must retain the above copyright</span>
<a name="l00008"></a>00008 <span class="comment"> *     notice, this list of conditions and the following disclaimer.</span>
<a name="l00009"></a>00009 <span class="comment"> *   * Redistributions in binary form must reproduce the above copyright</span>
<a name="l00010"></a>00010 <span class="comment"> *     notice, this list of conditions and the following disclaimer in the</span>
<a name="l00011"></a>00011 <span class="comment"> *     documentation and/or other materials provided with the distribution.</span>
<a name="l00012"></a>00012 <span class="comment"> *   * Neither the name of NVIDIA Corporation nor the</span>
<a name="l00013"></a>00013 <span class="comment"> *     names of its contributors may be used to endorse or promote products</span>
<a name="l00014"></a>00014 <span class="comment"> *     derived from this software without specific prior written permission.</span>
<a name="l00015"></a>00015 <span class="comment"> *</span>
<a name="l00016"></a>00016 <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span>
<a name="l00017"></a>00017 <span class="comment"> * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span>
<a name="l00018"></a>00018 <span class="comment"> * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span>
<a name="l00019"></a>00019 <span class="comment"> * DISCLAIMED. IN NO EVENT SHALL &lt;COPYRIGHT HOLDER&gt; BE LIABLE FOR ANY</span>
<a name="l00020"></a>00020 <span class="comment"> * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span>
<a name="l00021"></a>00021 <span class="comment"> * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00022"></a>00022 <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span>
<a name="l00023"></a>00023 <span class="comment"> * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span>
<a name="l00024"></a>00024 <span class="comment"> * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span>
<a name="l00025"></a>00025 <span class="comment"> * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00026"></a>00026 <span class="comment"> */</span>
<a name="l00027"></a>00027 
<a name="l00028"></a>00028 <span class="preprocessor">#include &lt;nih/bintree/cuda/bintree_gen.h&gt;</span>
<a name="l00029"></a>00029 <span class="preprocessor">#include &lt;<a class="code" href="morton_8h.html" title="Defines some general purpose algorithms.">nih/bits/morton.h</a>&gt;</span>
<a name="l00030"></a>00030 <span class="preprocessor">#include &lt;thrust/sort.h&gt;</span>
<a name="l00031"></a>00031 
<a name="l00032"></a>00032 <span class="keyword">namespace </span>nih {
<a name="l00033"></a>00033 <span class="keyword">namespace </span>cuda {
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="keyword">namespace </span>kd {
<a name="l00036"></a>00036 
<a name="l00037"></a>00037     <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Integer&gt;
<a name="l00038"></a><a class="code" href="structnih_1_1cuda_1_1kd_1_1_morton__bits.html">00038</a>     <span class="keyword">struct </span><a class="code" href="structnih_1_1cuda_1_1kd_1_1_morton__bits.html">Morton_bits</a> {};
<a name="l00039"></a>00039 
<a name="l00040"></a>00040     <span class="keyword">template</span> &lt;&gt;
<a name="l00041"></a><a class="code" href="structnih_1_1cuda_1_1kd_1_1_morton__bits_3_01uint32_01_4.html">00041</a>     <span class="keyword">struct </span><a class="code" href="structnih_1_1cuda_1_1kd_1_1_morton__bits.html">Morton_bits</a>&lt;uint32&gt; { <span class="keyword">static</span> <span class="keyword">const</span> uint32 value = 30u; };
<a name="l00042"></a>00042 
<a name="l00043"></a>00043     <span class="keyword">template</span> &lt;&gt;
<a name="l00044"></a><a class="code" href="structnih_1_1cuda_1_1kd_1_1_morton__bits_3_01uint64_01_4.html">00044</a>     <span class="keyword">struct </span><a class="code" href="structnih_1_1cuda_1_1kd_1_1_morton__bits.html">Morton_bits</a>&lt;uint64&gt; { <span class="keyword">static</span> <span class="keyword">const</span> uint32 value = 60u; };
<a name="l00045"></a>00045 
<a name="l00046"></a>00046     NIH_HOST_DEVICE <span class="keyword">inline</span> <span class="keywordtype">float</span> convert(<span class="keywordtype">float</span> a, <span class="keywordtype">float</span> b, <span class="keyword">const</span> uint32 i)
<a name="l00047"></a>00047     {
<a name="l00048"></a>00048         <span class="keyword">const</span> <span class="keywordtype">float</span> x = float(i) / float(1u &lt;&lt; 10u);
<a name="l00049"></a>00049         <span class="keywordflow">return</span> a + (b - a) * x;
<a name="l00050"></a>00050     }
<a name="l00051"></a>00051     NIH_HOST_DEVICE <span class="keyword">inline</span> <span class="keywordtype">float</span> convert(<span class="keywordtype">float</span> a, <span class="keywordtype">float</span> b, <span class="keyword">const</span> uint64 i)
<a name="l00052"></a>00052     {
<a name="l00053"></a>00053         <span class="keyword">const</span> <span class="keywordtype">float</span> x = float(i) / float(1u &lt;&lt; 20u);
<a name="l00054"></a>00054         <span class="keywordflow">return</span> a + (b - a) * x;
<a name="l00055"></a>00055     }
<a name="l00056"></a>00056 
<a name="l00059"></a>00059 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Integer, <span class="keyword">typename</span> OutputTree&gt;
<a name="l00060"></a><a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context.html">00060</a> <span class="keyword">struct </span><a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context.html">Kd_context</a>
<a name="l00061"></a>00061 {
<a name="l00062"></a>00062     <span class="keyword">typedef</span> <span class="keyword">typename</span> OutputTree::Context BaseContext;
<a name="l00063"></a>00063 
<a name="l00065"></a><a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context_1_1_context.html">00065</a>     <span class="keyword">struct </span><a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context_1_1_context.html" title="Cuda accessor struct.">Context</a>
<a name="l00066"></a>00066     {
<a name="l00067"></a>00067         NIH_HOST_DEVICE <a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context_1_1_context.html" title="Cuda accessor struct.">Context</a>() {}
<a name="l00068"></a>00068         NIH_HOST_DEVICE <a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context_1_1_context.html" title="Cuda accessor struct.">Context</a>(<span class="keyword">const</span> BaseContext context, <span class="keyword">const</span> Integer* codes, <a class="code" href="structnih_1_1_bbox.html">Bbox3f</a> bbox) :
<a name="l00069"></a>00069             m_context( context ), m_codes( codes ), m_bbox( bbox ) {}
<a name="l00070"></a>00070 
<a name="l00072"></a><a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context_1_1_context.html#a5666cc908c4d0cbdaea73df0267e2b7b">00072</a>         NIH_HOST_DEVICE <span class="keywordtype">void</span> <a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context_1_1_context.html#a5666cc908c4d0cbdaea73df0267e2b7b" title="write a new node">write_node</a>(<span class="keyword">const</span> uint32 node, <span class="keywordtype">bool</span> p1, <span class="keywordtype">bool</span> p2, <span class="keyword">const</span> uint32 offset, <span class="keyword">const</span> uint32 skip_node, <span class="keyword">const</span> uint32 level, <span class="keyword">const</span> uint32 begin, <span class="keyword">const</span> uint32 end, <span class="keyword">const</span> uint32 split_index)
<a name="l00073"></a>00073         {
<a name="l00074"></a>00074             <span class="keywordflow">if</span> (p1)
<a name="l00075"></a>00075             {
<a name="l00076"></a>00076                 <span class="comment">// fetch the Morton code corresponding to the split plane</span>
<a name="l00077"></a>00077                       Integer code = m_codes[ split_index ];
<a name="l00078"></a>00078                 <span class="keyword">const</span> uint32  split_dim = level % 3;
<a name="l00079"></a>00079 
<a name="l00080"></a>00080                 <span class="comment">// extract the selected coordinate</span>
<a name="l00081"></a>00081                 Integer split_coord = 0;
<a name="l00082"></a>00082 
<a name="l00083"></a>00083                 code &gt;&gt;= level-1;
<a name="l00084"></a>00084                 code &lt;&lt;= level-1;
<a name="l00085"></a>00085 
<a name="l00086"></a>00086                 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; code; i++)
<a name="l00087"></a>00087                 {
<a name="l00088"></a>00088                         split_coord |= (((code &gt;&gt; split_dim) &amp; 1u) &lt;&lt; i);
<a name="l00089"></a>00089                     code &gt;&gt;= 3u;
<a name="l00090"></a>00090                 }
<a name="l00091"></a>00091 
<a name="l00092"></a>00092                 <span class="comment">// convert to floating point</span>
<a name="l00093"></a>00093                 <span class="keyword">const</span> <span class="keywordtype">float</span> split_plane = convert( m_bbox[0][split_dim], m_bbox[1][split_dim], split_coord );
<a name="l00094"></a>00094 
<a name="l00095"></a>00095                 <span class="comment">// and output the split node</span>
<a name="l00096"></a>00096                 m_context.write_node(
<a name="l00097"></a>00097                     node,
<a name="l00098"></a>00098                     offset,
<a name="l00099"></a>00099                     skip_node,
<a name="l00100"></a>00100                     begin,
<a name="l00101"></a>00101                     end,
<a name="l00102"></a>00102                     split_index,
<a name="l00103"></a>00103                     split_dim,
<a name="l00104"></a>00104                     split_plane );
<a name="l00105"></a>00105             }
<a name="l00106"></a>00106             <span class="keywordflow">else</span>
<a name="l00107"></a>00107             {
<a name="l00108"></a>00108                 <span class="comment">// output a leaf node</span>
<a name="l00109"></a>00109                 m_context.write_node(
<a name="l00110"></a>00110                     node,
<a name="l00111"></a>00111                     offset,
<a name="l00112"></a>00112                     skip_node,
<a name="l00113"></a>00113                     begin,
<a name="l00114"></a>00114                     end );
<a name="l00115"></a>00115             }
<a name="l00116"></a>00116         }
<a name="l00118"></a><a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context_1_1_context.html#ad15b1e0707113f2f30249c13d492fad8">00118</a>         NIH_HOST_DEVICE <span class="keywordtype">void</span> <a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context_1_1_context.html#ad15b1e0707113f2f30249c13d492fad8" title="write a new leaf">write_leaf</a>(<span class="keyword">const</span> uint32 index, <span class="keyword">const</span> uint32 begin, <span class="keyword">const</span> uint32 end)
<a name="l00119"></a>00119         {
<a name="l00120"></a>00120             m_context.write_leaf( index, begin, end );
<a name="l00121"></a>00121         }
<a name="l00122"></a>00122 
<a name="l00123"></a>00123         BaseContext     m_context;
<a name="l00124"></a>00124         <span class="keyword">const</span> Integer*  m_codes;
<a name="l00125"></a>00125         <a class="code" href="structnih_1_1_bbox.html">Bbox3f</a>          m_bbox;
<a name="l00126"></a>00126     };
<a name="l00127"></a>00127 
<a name="l00129"></a><a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context.html#abe9c4314aef3ed1a35933de2d1cbb42a">00129</a>     <a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context.html#abe9c4314aef3ed1a35933de2d1cbb42a" title="constructor">Kd_context</a>(
<a name="l00130"></a>00130         OutputTree                   context,
<a name="l00131"></a>00131         <span class="keyword">const</span> Integer*                  codes,
<a name="l00132"></a>00132         <a class="code" href="structnih_1_1_bbox.html">Bbox3f</a>                          bbox) :
<a name="l00133"></a>00133         m_context( context ), m_codes( codes ), m_bbox( bbox ) {}
<a name="l00134"></a>00134 
<a name="l00136"></a><a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context.html#a0a3ff0a6c3183ae567dcea906240cfb3">00136</a>     <span class="keywordtype">void</span> <a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context.html#a0a3ff0a6c3183ae567dcea906240cfb3" title="reserve space for more nodes">reserve_nodes</a>(<span class="keyword">const</span> uint32 n) { m_context.reserve_nodes(n); }
<a name="l00137"></a>00137 
<a name="l00139"></a><a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context.html#ab7385013e4f09f265ad7627b487d43ce">00139</a>     <span class="keywordtype">void</span> <a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context.html#ab7385013e4f09f265ad7627b487d43ce" title="reserve space for more leaves">reserve_leaves</a>(<span class="keyword">const</span> uint32 n) { m_context.reserve_leaves(n); }
<a name="l00140"></a>00140 
<a name="l00142"></a><a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context.html#a55edd27ba21a537108ecf6f5ed0468a5">00142</a>     <a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context_1_1_context.html" title="Cuda accessor struct.">Context</a> <a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context.html#a55edd27ba21a537108ecf6f5ed0468a5" title="return a cuda context">get_context</a>()
<a name="l00143"></a>00143     {
<a name="l00144"></a>00144         <span class="keywordflow">return</span> <a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context_1_1_context.html" title="Cuda accessor struct.">Context</a>(
<a name="l00145"></a>00145             m_context.get_context(),
<a name="l00146"></a>00146             m_codes,
<a name="l00147"></a>00147             m_bbox );
<a name="l00148"></a>00148     }
<a name="l00149"></a>00149 
<a name="l00150"></a>00150     OutputTree                    m_context;
<a name="l00151"></a>00151     <span class="keyword">const</span> Integer*                   m_codes;
<a name="l00152"></a>00152     <a class="code" href="structnih_1_1_bbox.html">Bbox3f</a>                           m_bbox;
<a name="l00153"></a>00153 };
<a name="l00154"></a>00154 
<a name="l00155"></a>00155 };
<a name="l00156"></a>00156 
<a name="l00157"></a>00157 <span class="comment">// build a k-d tree given a set of points</span>
<a name="l00158"></a>00158 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Integer&gt;
<a name="l00159"></a>00159 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> OutputTree, <span class="keyword">typename</span> Iterator&gt;
<a name="l00160"></a><a class="code" href="structnih_1_1cuda_1_1_kd__builder.html#a227e02ff324dfb9c251fee6954e942c8">00160</a> <span class="keywordtype">void</span> <a class="code" href="structnih_1_1cuda_1_1_kd__builder.html#a227e02ff324dfb9c251fee6954e942c8">Kd_builder&lt;Integer&gt;::build</a>(
<a name="l00161"></a>00161     OutputTree&amp;                     tree,
<a name="l00162"></a>00162     thrust::device_vector&lt;uint32&gt;&amp;  index,
<a name="l00163"></a>00163     <span class="keyword">const</span> <a class="code" href="structnih_1_1_bbox.html">Bbox3f</a>                    bbox,
<a name="l00164"></a>00164     <span class="keyword">const</span> Iterator                  points_begin,
<a name="l00165"></a>00165     <span class="keyword">const</span> Iterator                  points_end,
<a name="l00166"></a>00166     <span class="keyword">const</span> uint32                    max_leaf_size)
<a name="l00167"></a>00167 { 
<a name="l00168"></a>00168     <span class="keyword">typedef</span> <a class="code" href="structnih_1_1cuda_1_1_bintree__gen__context_1_1_split__task.html">cuda::Bintree_gen_context::Split_task</a> Split_task;
<a name="l00169"></a>00169 
<a name="l00170"></a>00170     <span class="keyword">const</span> uint32 n_points = uint32( points_end - points_begin );
<a name="l00171"></a>00171 
<a name="l00172"></a>00172     m_bbox = bbox;
<a name="l00173"></a>00173     need_space( m_codes, n_points );
<a name="l00174"></a>00174     need_space( index, n_points );
<a name="l00175"></a>00175 
<a name="l00176"></a>00176     <span class="comment">// compute the Morton code for each point</span>
<a name="l00177"></a>00177     thrust::transform(
<a name="l00178"></a>00178         points_begin,
<a name="l00179"></a>00179         points_begin + n_points,
<a name="l00180"></a>00180         m_codes.begin(),
<a name="l00181"></a>00181         <a class="code" href="structnih_1_1morton__functor.html">morton_functor&lt;Integer&gt;</a>( bbox ) );
<a name="l00182"></a>00182 
<a name="l00183"></a>00183     <span class="comment">// setup the point indices, from 0 to n_points-1</span>
<a name="l00184"></a>00184     thrust::copy(
<a name="l00185"></a>00185         thrust::counting_iterator&lt;uint32&gt;(0),
<a name="l00186"></a>00186         thrust::counting_iterator&lt;uint32&gt;(0) + n_points,
<a name="l00187"></a>00187         index.begin() );
<a name="l00188"></a>00188 
<a name="l00189"></a>00189     <span class="comment">// sort the indices by Morton code</span>
<a name="l00190"></a>00190     <span class="comment">// TODO: use Duane&#39;s library directly here... this is doing shameful allocations!</span>
<a name="l00191"></a>00191     thrust::sort_by_key(
<a name="l00192"></a>00192         m_codes.begin(),
<a name="l00193"></a>00193         m_codes.begin() + n_points,
<a name="l00194"></a>00194         index.begin() );
<a name="l00195"></a>00195 
<a name="l00196"></a>00196     <span class="comment">// generate a kd-tree</span>
<a name="l00197"></a>00197     <a class="code" href="structnih_1_1cuda_1_1kd_1_1_kd__context.html">kd::Kd_context&lt;Integer,OutputTree&gt;</a> bintree_context( tree, thrust::raw_pointer_cast( &amp;m_codes.front() ), m_bbox );
<a name="l00198"></a>00198 
<a name="l00199"></a>00199     <span class="keyword">const</span> uint32 bits = <a class="code" href="structnih_1_1cuda_1_1kd_1_1_morton__bits.html">kd::Morton_bits&lt;Integer&gt;::value</a>;
<a name="l00200"></a>00200 
<a name="l00201"></a>00201     <a class="code" href="group__bintree.html#gad76a50ae08ab4d525f748a7cbcc0fb6e">generate</a>(
<a name="l00202"></a>00202         m_kd_context,
<a name="l00203"></a>00203         n_points,
<a name="l00204"></a>00204         thrust::raw_pointer_cast( &amp;m_codes.front() ),
<a name="l00205"></a>00205         bits,
<a name="l00206"></a>00206         max_leaf_size,
<a name="l00207"></a>00207         <span class="keyword">false</span>,
<a name="l00208"></a>00208         bintree_context );
<a name="l00209"></a>00209 
<a name="l00210"></a>00210     m_leaf_count = m_kd_context.m_leaves;
<a name="l00211"></a>00211     m_node_count = m_kd_context.m_nodes;
<a name="l00212"></a>00212 
<a name="l00213"></a>00213     <span class="keywordflow">for</span> (uint32 level = 0; level &lt;= bits; ++level)
<a name="l00214"></a>00214         m_levels[ bits - level ] = m_kd_context.m_levels[ level ];
<a name="l00215"></a>00215 }
<a name="l00216"></a>00216 
<a name="l00217"></a>00217 } <span class="comment">// namespace cuda</span>
<a name="l00218"></a>00218 } <span class="comment">// namespace nih</span>
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